Currently, all motors are initialized in their respective subsystems. IDs are imported from the robot constants, but other parameters like inversion, names, and motor types are specified within the subsystem. These should all be moved to robot constants files and put into a dedicated struct for organization.
Currently, all motors are initialized in their respective subsystems. IDs are imported from the robot constants, but other parameters like inversion, names, and motor types are specified within the subsystem. These should all be moved to robot constants files and put into a dedicated struct for organization.